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<div class="title">ti_boardcontrol.cpp</div>  </div>
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<a href="../../dc/d31/ti__boardcontrol_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d42/ti__boardcontrol_8h.html">SimUtilities/ti_boardcontrol.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a74d8da6940a7d241f14b14938fa896a1">    7</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a74d8da6940a7d241f14b14938fa896a1">TI_BoardControl::init</a>(<span class="keywordtype">float</span> side_sign) {</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;[Cheetah Control] Hello! I am the TI board with side sign: &quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;            &lt;&lt; side_sign &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  this-&gt;<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a281639ac05d7ed715a414d785dbddbbe">_side_sign</a> = side_sign;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a> = &amp;<a class="code" href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">data_structure</a>;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;}</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a71d83e45bced344c5c8dc8df039cfc50">   14</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a71d83e45bced344c5c8dc8df039cfc50">TI_BoardControl::set_link_lengths</a>(<span class="keywordtype">float</span> l1, <span class="keywordtype">float</span> l2, <span class="keywordtype">float</span> l3) {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a0880e70dc33617c780f7d989d8a977bb">link_lengths_set</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  this-&gt;<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a69a7c6fb53eaa54947d128f844ea99d8">_l1</a> = l1;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  this-&gt;<a class="code" href="../../d4/d1a/class_t_i___board_control.html#ad8f14b235113c65f710b0f40bd4248df">_l2</a> = l2;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  this-&gt;<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> = l3;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;}</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a3e42e3be8465ec6bd30fae50975a41f6">   21</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a3e42e3be8465ec6bd30fae50975a41f6">TI_BoardControl::reset_ti_board_data</a>() {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  std::fill_n(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">data_structure</a>.<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>, 3, 0);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">data_structure</a>.<a class="code" href="../../de/de1/struct_ti_board_data.html#a81765ede3ad9b85d0a95652d5e159340">loop_count_ti</a> = 0;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">data_structure</a>.<a class="code" href="../../de/de1/struct_ti_board_data.html#a71ac7295b1c19c1aba762a1da73e4a78">ethercat_count_ti</a> = 0;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">data_structure</a>.<a class="code" href="../../de/de1/struct_ti_board_data.html#ac56601d292d7fdd729c035076d72bbe4">microtime_ti</a> = 0;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;}</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a9c8430956bc19a3fa44d433c85d7ef09">   28</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9c8430956bc19a3fa44d433c85d7ef09">TI_BoardControl::reset_ti_board_command</a>() {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">position_des</a>[0] = 0;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">position_des</a>[1] = 0;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">position_des</a>[2] = 0;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  std::fill_n(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a3aa634040ada4f6f9fa6eb43472e0f5e">velocity_des</a>, 3, 0);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  std::fill_n(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a1cceb8b3d396de973e195971a9aba3b1">kp</a>, 3, 0);</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  std::fill_n(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a24cc094d5bc085948a157766844f556b">kd</a>, 3, 0);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  std::fill_n(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">data_structure</a>.<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>, 3, 0);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;}</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#af9bf713f3d84030ef027664c9dbad07b">   39</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#af9bf713f3d84030ef027664c9dbad07b">TI_BoardControl::run_ti_board_iteration</a>() {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a0880e70dc33617c780f7d989d8a977bb">link_lengths_set</a>) {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[TI Board] Error.  Link lengths haven&#39;t been set.\n&quot;</span>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  }</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a7f848ae35717601f1698d817740b729d">enable</a> == 1 &amp;&amp; <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a7da5c7d517f9dd1185204fb76d244e58">max_torque</a> &gt; 1e-9) {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <a class="code" href="../../d4/d1a/class_t_i___board_control.html#ac277aa7ba325fc90dc9d503c30e9dc8d">impedanceControl</a>(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a281639ac05d7ed715a414d785dbddbbe">_side_sign</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#abbd604ce0592a16aeff781483306034f">q</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a59bdb52d482a8cf13b0eefe34760b530">dq</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">position_des</a>,</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                     <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a3aa634040ada4f6f9fa6eb43472e0f5e">velocity_des</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a1cceb8b3d396de973e195971a9aba3b1">kp</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a24cc094d5bc085948a157766844f556b">kd</a>,</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                     <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a4ebe624e78c04ef728d2cac3e265e969">force_ff</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#aed1ae639325c878829a4d3ffd58184be">tau_ff</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a9b8bb8e37b5a744343c42683a63a5b5f">position</a>,</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                     <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a771df24317bbe9e29d097c379b441750">velocity</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a05a30848a702272acc265730773119b7">force</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i) {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <span class="keywordflow">if</span> (std::abs(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>[i]) &gt; <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a7da5c7d517f9dd1185204fb76d244e58">max_torque</a>) {</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>[i] =</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;            <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>[i] / std::abs(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>[i]) * <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">command</a>.<a class="code" href="../../d8/d03/struct_ti_board_command.html#a7da5c7d517f9dd1185204fb76d244e58">max_torque</a>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      }</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">float</span> Jacobian[3][3];</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a60c3ee3a5069e0007255cadc3df4f6f2">kinematics</a>(<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a281639ac05d7ed715a414d785dbddbbe">_side_sign</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#abbd604ce0592a16aeff781483306034f">q</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a59bdb52d482a8cf13b0eefe34760b530">dq</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a9b8bb8e37b5a744343c42683a63a5b5f">position</a>, <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a771df24317bbe9e29d097c379b441750">velocity</a>,</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;               Jacobian);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a05a30848a702272acc265730773119b7">force</a>[0] = 0;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a05a30848a702272acc265730773119b7">force</a>[1] = 0;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a05a30848a702272acc265730773119b7">force</a>[2] = 0;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>[0] = 0;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>[1] = 0;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">tau_des</a>[2] = 0;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  }</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">data</a>-&gt;<a class="code" href="../../de/de1/struct_ti_board_data.html#a81765ede3ad9b85d0a95652d5e159340">loop_count_ti</a> += 1;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#ac277aa7ba325fc90dc9d503c30e9dc8d">   71</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#ac277aa7ba325fc90dc9d503c30e9dc8d">TI_BoardControl::impedanceControl</a>(</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> side_sign, <span class="keyword">const</span> <span class="keywordtype">float</span> q[3], <span class="keyword">const</span> <span class="keywordtype">float</span> dq[3],</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> position_des[3], <span class="keyword">const</span> <span class="keywordtype">float</span> velocity_des[3], <span class="keyword">const</span> <span class="keywordtype">float</span> kp[3],</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> kd[3], <span class="keyword">const</span> <span class="keywordtype">float</span> force_bias[3], <span class="keyword">const</span> <span class="keywordtype">float</span> torque_bias[3],</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">float</span> *position, <span class="keywordtype">float</span> *velocity, <span class="keywordtype">float</span> *force, <span class="keywordtype">float</span> *torque) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">float</span> Jacobian[3][3];</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a60c3ee3a5069e0007255cadc3df4f6f2">kinematics</a>(side_sign, q, dq, position, velocity, Jacobian);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  force[0] = kp[0] * (position_des[0] - position[0]) +</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;             kd[0] * (velocity_des[0] - velocity[0]) + force_bias[0];</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  force[1] = kp[1] * (position_des[1] - position[1]) +</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;             kd[1] * (velocity_des[1] - velocity[1]) + force_bias[1];</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  force[2] = kp[2] * (position_des[2] - position[2]) +</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;             kd[2] * (velocity_des[2] - velocity[2]) + force_bias[2];</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  torque[0] = (force[0] * Jacobian[0][0] + force[1] * Jacobian[1][0] +</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;               force[2] * Jacobian[2][0]) +</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;              torque_bias[0];</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  torque[1] = (force[0] * Jacobian[0][1] + force[1] * Jacobian[1][1] +</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;               force[2] * Jacobian[2][1]) +</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;              torque_bias[1];</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  torque[2] = (force[0] * Jacobian[0][2] + force[1] * Jacobian[1][2] +</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;               force[2] * Jacobian[2][2]) +</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;              torque_bias[2];</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="../../d4/d1a/class_t_i___board_control.html#a60c3ee3a5069e0007255cadc3df4f6f2">   97</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a60c3ee3a5069e0007255cadc3df4f6f2">TI_BoardControl::kinematics</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> side_sign, <span class="keyword">const</span> <span class="keywordtype">float</span> q[3],</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                 <span class="keyword">const</span> <span class="keywordtype">float</span> dq[3], <span class="keywordtype">float</span> *p, <span class="keywordtype">float</span> *v,</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                                 <span class="keywordtype">float</span> J[][3]) {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="comment">//    ti_flt l1 = 0.045;</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">//    ti_flt l2 = .342;</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">//    ti_flt l3 = .345;</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">//    if(get_cheetah() == 4)</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">//    {</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">//        l1 = .062;</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">//        l2 = .209;</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">//        l3 = .175;</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">//    }</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> s1 = sin(q[0]), s2 = sin(q[1]), s3 = sin(q[2]);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> c1 = cos(q[0]), c2 = cos(q[1]), c3 = cos(q[2]);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> c23 = c2 * c3 - s2 * s3;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> s23 = s2 * c3 + c2 * s3;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  p[0] = <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> * s23 + <a class="code" href="../../d4/d1a/class_t_i___board_control.html#ad8f14b235113c65f710b0f40bd4248df">_l2</a> * s2;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  p[1] = <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a69a7c6fb53eaa54947d128f844ea99d8">_l1</a> * side_sign * c1 + <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> * (s1 * c23) + <a class="code" href="../../d4/d1a/class_t_i___board_control.html#ad8f14b235113c65f710b0f40bd4248df">_l2</a> * c2 * s1;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; 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 J[1][0] = <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> * c1 * c23 + <a class="code" href="../../d4/d1a/class_t_i___board_control.html#ad8f14b235113c65f710b0f40bd4248df">_l2</a> * c1 * c2 - <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a69a7c6fb53eaa54947d128f844ea99d8">_l1</a> * side_sign * s1;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  J[1][1] = -<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> * s1 * s23 - <a class="code" href="../../d4/d1a/class_t_i___board_control.html#ad8f14b235113c65f710b0f40bd4248df">_l2</a> * s1 * s2;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  J[1][2] = -<a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> * s1 * s23;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  J[2][0] = <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> * s1 * c23 + <a class="code" href="../../d4/d1a/class_t_i___board_control.html#ad8f14b235113c65f710b0f40bd4248df">_l2</a> * c2 * s1 + <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a69a7c6fb53eaa54947d128f844ea99d8">_l1</a> * side_sign * c1;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  J[2][1] = <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> * c1 * s23 + <a class="code" href="../../d4/d1a/class_t_i___board_control.html#ad8f14b235113c65f710b0f40bd4248df">_l2</a> * c1 * s2;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  J[2][2] = <a class="code" href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">_l3</a> * c1 * s23;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  v[0] = 0;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  v[1] = 0;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  v[2] = 0;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordtype">int</span> i, j;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordflow">for</span> (i = 0; i &lt; 3; i++) {</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordflow">for</span> (j = 0; j &lt; 3; j++) {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      v[i] += J[i][j] * dq[j];</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    }</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div><div class="ttc" id="struct_ti_board_command_html_a7da5c7d517f9dd1185204fb76d244e58"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a7da5c7d517f9dd1185204fb76d244e58">TiBoardCommand::max_torque</a></div><div class="ttdeci">float max_torque</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00017">ti_boardcontrol.h:17</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a24cc094d5bc085948a157766844f556b"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a24cc094d5bc085948a157766844f556b">TiBoardCommand::kd</a></div><div class="ttdeci">float kd[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00013">ti_boardcontrol.h:13</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_aed1ae639325c878829a4d3ffd58184be"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#aed1ae639325c878829a4d3ffd58184be">TiBoardCommand::tau_ff</a></div><div class="ttdeci">float tau_ff[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00015">ti_boardcontrol.h:15</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a0880e70dc33617c780f7d989d8a977bb"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a0880e70dc33617c780f7d989d8a977bb">TI_BoardControl::link_lengths_set</a></div><div class="ttdeci">bool link_lengths_set</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00059">ti_boardcontrol.h:59</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a281639ac05d7ed715a414d785dbddbbe"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a281639ac05d7ed715a414d785dbddbbe">TI_BoardControl::_side_sign</a></div><div class="ttdeci">float _side_sign</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00057">ti_boardcontrol.h:57</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a1cceb8b3d396de973e195971a9aba3b1"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a1cceb8b3d396de973e195971a9aba3b1">TiBoardCommand::kp</a></div><div class="ttdeci">float kp[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00012">ti_boardcontrol.h:12</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a3e42e3be8465ec6bd30fae50975a41f6"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a3e42e3be8465ec6bd30fae50975a41f6">TI_BoardControl::reset_ti_board_data</a></div><div class="ttdeci">void reset_ti_board_data()</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d31/ti__boardcontrol_8cpp_source.html#l00021">ti_boardcontrol.cpp:21</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a71d83e45bced344c5c8dc8df039cfc50"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a71d83e45bced344c5c8dc8df039cfc50">TI_BoardControl::set_link_lengths</a></div><div class="ttdeci">void set_link_lengths(float l1, float l2, float l3)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d31/ti__boardcontrol_8cpp_source.html#l00014">ti_boardcontrol.cpp:14</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a9c8430956bc19a3fa44d433c85d7ef09"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a9c8430956bc19a3fa44d433c85d7ef09">TI_BoardControl::reset_ti_board_command</a></div><div class="ttdeci">void reset_ti_board_command()</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d31/ti__boardcontrol_8cpp_source.html#l00028">ti_boardcontrol.cpp:28</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_aff307ee44b9fa2fa44ed6b9dc6374e62"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#aff307ee44b9fa2fa44ed6b9dc6374e62">TiBoardData::tau_des</a></div><div class="ttdeci">float tau_des[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00027">ti_boardcontrol.h:27</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_ac277aa7ba325fc90dc9d503c30e9dc8d"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#ac277aa7ba325fc90dc9d503c30e9dc8d">TI_BoardControl::impedanceControl</a></div><div class="ttdeci">void impedanceControl(const float side_sign, const float q[3], const float dq[3], const float position_des[3], const float velocity_des[3], const float kp[3], const float kd[3], const float force_bias[3], const float torque_bias[3], float *position, float *velocity, float *force, float *torque)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d31/ti__boardcontrol_8cpp_source.html#l00071">ti_boardcontrol.cpp:71</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_abbd604ce0592a16aeff781483306034f"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#abbd604ce0592a16aeff781483306034f">TiBoardData::q</a></div><div class="ttdeci">float q[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00024">ti_boardcontrol.h:24</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a3aa634040ada4f6f9fa6eb43472e0f5e"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a3aa634040ada4f6f9fa6eb43472e0f5e">TiBoardCommand::velocity_des</a></div><div class="ttdeci">float velocity_des[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00011">ti_boardcontrol.h:11</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_ad8f14b235113c65f710b0f40bd4248df"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#ad8f14b235113c65f710b0f40bd4248df">TI_BoardControl::_l2</a></div><div class="ttdeci">float _l2</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00058">ti_boardcontrol.h:58</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a74d8da6940a7d241f14b14938fa896a1"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a74d8da6940a7d241f14b14938fa896a1">TI_BoardControl::init</a></div><div class="ttdeci">void init(float side_sign)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d31/ti__boardcontrol_8cpp_source.html#l00007">ti_boardcontrol.cpp:7</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a9365069ffa74df468313b55d24d4fcce"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a9365069ffa74df468313b55d24d4fcce">TI_BoardControl::data</a></div><div class="ttdeci">TiBoardData * data</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00045">ti_boardcontrol.h:45</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_a771df24317bbe9e29d097c379b441750"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#a771df24317bbe9e29d097c379b441750">TiBoardData::velocity</a></div><div class="ttdeci">float velocity[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00022">ti_boardcontrol.h:22</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a69a7c6fb53eaa54947d128f844ea99d8"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a69a7c6fb53eaa54947d128f844ea99d8">TI_BoardControl::_l1</a></div><div class="ttdeci">float _l1</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00058">ti_boardcontrol.h:58</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_a9b8bb8e37b5a744343c42683a63a5b5f"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#a9b8bb8e37b5a744343c42683a63a5b5f">TiBoardData::position</a></div><div class="ttdeci">float position[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00021">ti_boardcontrol.h:21</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_acc3fe746277290261acfb4b3a7f1cab3"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#acc3fe746277290261acfb4b3a7f1cab3">TI_BoardControl::data_structure</a></div><div class="ttdeci">TiBoardData data_structure</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00042">ti_boardcontrol.h:42</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_a71ac7295b1c19c1aba762a1da73e4a78"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#a71ac7295b1c19c1aba762a1da73e4a78">TiBoardData::ethercat_count_ti</a></div><div class="ttdeci">u32 ethercat_count_ti</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00029">ti_boardcontrol.h:29</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a34adea65f3e6967356c8da43562bb3a9"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a34adea65f3e6967356c8da43562bb3a9">TI_BoardControl::command</a></div><div class="ttdeci">TiBoardCommand command</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00041">ti_boardcontrol.h:41</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a7f848ae35717601f1698d817740b729d"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a7f848ae35717601f1698d817740b729d">TiBoardCommand::enable</a></div><div class="ttdeci">s32 enable</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00016">ti_boardcontrol.h:16</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_ac56601d292d7fdd729c035076d72bbe4"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#ac56601d292d7fdd729c035076d72bbe4">TiBoardData::microtime_ti</a></div><div class="ttdeci">u32 microtime_ti</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00030">ti_boardcontrol.h:30</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_a4ebe624e78c04ef728d2cac3e265e969"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#a4ebe624e78c04ef728d2cac3e265e969">TiBoardCommand::force_ff</a></div><div class="ttdeci">float force_ff[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00014">ti_boardcontrol.h:14</a></div></div>
<div class="ttc" id="ti__boardcontrol_8h_html"><div class="ttname"><a href="../../d9/d42/ti__boardcontrol_8h.html">ti_boardcontrol.h</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_af9bf713f3d84030ef027664c9dbad07b"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#af9bf713f3d84030ef027664c9dbad07b">TI_BoardControl::run_ti_board_iteration</a></div><div class="ttdeci">void run_ti_board_iteration()</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d31/ti__boardcontrol_8cpp_source.html#l00039">ti_boardcontrol.cpp:39</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_a59bdb52d482a8cf13b0eefe34760b530"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#a59bdb52d482a8cf13b0eefe34760b530">TiBoardData::dq</a></div><div class="ttdeci">float dq[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00025">ti_boardcontrol.h:25</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a60c3ee3a5069e0007255cadc3df4f6f2"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a60c3ee3a5069e0007255cadc3df4f6f2">TI_BoardControl::kinematics</a></div><div class="ttdeci">void kinematics(const float side_sign, const float q[3], const float dq[3], float *p, float *v, float J[][3])</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d31/ti__boardcontrol_8cpp_source.html#l00097">ti_boardcontrol.cpp:97</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_a05a30848a702272acc265730773119b7"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#a05a30848a702272acc265730773119b7">TiBoardData::force</a></div><div class="ttdeci">float force[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00023">ti_boardcontrol.h:23</a></div></div>
<div class="ttc" id="struct_ti_board_command_html_ae3964e6f3467faf2f211cb6f3d4a86af"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html#ae3964e6f3467faf2f211cb6f3d4a86af">TiBoardCommand::position_des</a></div><div class="ttdeci">float position_des[3]</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00010">ti_boardcontrol.h:10</a></div></div>
<div class="ttc" id="struct_ti_board_data_html_a81765ede3ad9b85d0a95652d5e159340"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html#a81765ede3ad9b85d0a95652d5e159340">TiBoardData::loop_count_ti</a></div><div class="ttdeci">u32 loop_count_ti</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00028">ti_boardcontrol.h:28</a></div></div>
<div class="ttc" id="class_t_i___board_control_html_a010e55bafbdf6584c3c1c698d3177c6b"><div class="ttname"><a href="../../d4/d1a/class_t_i___board_control.html#a010e55bafbdf6584c3c1c698d3177c6b">TI_BoardControl::_l3</a></div><div class="ttdeci">float _l3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00058">ti_boardcontrol.h:58</a></div></div>
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